JP2008133715A - Mobile unit for cleaning sewer network - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile unit for cleaning a sewer network from a manhole, by accurately and easily positioning working ends of a suction hole and a cleaning hose. <P>SOLUTION: This unit has the suction hose 240, a cleaner hose 230, and a support guide arm 202 having a horizontal portion 210 swiveling about a vertical axis and movable to the mobile unit 200 in horizontal translation and a vertical portion 220 connected to the horizontal portion 210 and presenting a movable bottom module 226 to the horizontal portion 210 in vertical translation in swiveling. The suction hose and the cleaner hose are connected to the bottom module 226, and positioning of the bottom module 226 corresponds substantially to positioning of the working ends of the suction and cleaner hoses. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a movable unit for cleaning a sewer network from a manhole.

  The term mobile unit refers to both self-propelled assemblies, such as truck-type wheeled vehicles, and assemblies that are towed themselves, such as trailers, wagons, or in fact suitable for mounting on a trailer or vehicle chassis. Including.

  Can be used to apply both jet water and suction to the sewer network, i.e., with a cleaner hose with a cleaner head that delivers high pressure jet water and a suction hose that sucks up liquid residues and sludge, and manholes and adjacent There is actually a track known as a jetter track that can be used to remove deposits that accumulate in the channel.

Naturally, this type of equipment is used by workers who remain close to the manhole located on the roadway, placing a cleaner hose with a cleaner head at the end at the desired location in the manhole, It is necessary to hold the cleaner hose in place while pumping out water, and then allow the cleaner hose to be pulled back into the truck.
Thereafter, the operator needs to perform similar positioning, control, holding, and lifting operations using the suction hose.

  Therefore, the operator can perform many operations while the state inside the manhole is unclear, that is, it cannot be guaranteed that there will be no area where uncleaned residue remains without being cleaned and properly cleaned. It can be understood from the above that it is necessary to do this.

  In addition, especially when pulling up the hose, and more particularly the cleaner hose, splashing may occur outside the manhole, often coupled with soiling the hose, often making the operator most uncomfortable and difficult to handle May bring

  Japanese Patent Application Laid-Open No. H10-228707 discloses a clean vehicle that is pivoted around a vertical axis, moves in a horizontal translation, and has an arm that can move with respect to the vehicle. The arm includes a suction hose and a clean hose. Carrying.

  Patent Document 2 discloses a clean vehicle equipped with a high-pressure cleaner hose and a suction hose attached to a horizontal swivel telescopic boom.

Also in the above-mentioned patent documents, in the manhole, the approach position of the manhole, and the positioning of the suction hose and the cleaning hose in the manhole, the vertical direction (height / depth) and the vertical axis extending along the manhole are defined. It is desirable to achieve even higher accuracy both in the central radial direction.
German Patent Application Publication No. 102 46 041 European Patent Application No. 0 698 696

  The object of the present invention is to solve the disadvantages of the prior art, in particular during each step, i.e. while the hose is in place, while the hose is operating, and then during the removal of the hose from the manhole. It is an object of the present invention to provide an operating unit for cleaning the sewer network, which can facilitate the precise positioning of the working ends of the hose and the cleaning hose.

  For this purpose, the present invention is a movable unit for cleaning a sewer network from a manhole, which is attached to a reel, connected to a collection tank and a suction pump, attached to the reel, a water tank, a high-pressure pump, And a high-pressure cleaner hose connected to the cleaner head and a movable unit connected to the movable unit, swiveling around the vertical axis so that the working ends of the suction hose and cleaner hose can be placed on the sewage manhole, It has a horizontal part that can move and move relative to the movable unit, and is further connected to the horizontal part, swivels and vertically translates to provide a bottom module that is movable relative to the horizontal part. A suction guide hose and a support guide arm for supporting and guiding the suction hose and the cleaner hose; Lina hose, by being connected to the bottom module, positioning the bottom module, provides a movable unit which is characterized by comprising to position the working end of the substantially suction hose and the cleaner hose.

  Thus, since there are many degrees of freedom of the support and guide arms, it is possible to obtain high accuracy in positioning the suction hose and the cleaner hose carried by the support and guide arms.

  Since the above equipment is provided in the horizontal portion of the arm, the entire arm can rotate around the vertical axis, and the entire vertical portion can move with respect to the movable unit by horizontal translation.

  Further, in a particular aspect of the present invention, the vertical portion of the arm includes a device that allows the bottom module at its bottom end to move with both pivoting and vertical translation about its vertical axis.

  In this way, it is easy to move the bottom module to the desired position, and therefore it is easy to move the working ends of the suction hose and cleaner hose to a predetermined position inside the manhole.

  This solution also avoids timely movement of the suction hose and cleaner hose, and in particular avoids the end of the cleaner hose fitted with the cleaner head from rising and hitting the operator. In fact, the cleaner hose provides additional benefits such as avoiding rubbing and wear on the manhole walls and waterways leading to it.

  As a whole, the solution according to the present invention can greatly facilitate the work of the worker, and further, the work is accurate and makes the worker less fatigued, so that the cleaning work becomes more effective.

  The connecting part between the horizontal part and the vertical part of the arm is a ball joint corresponding to a relative angular movement of up to 5 °, preferably up to 3 ° between the horizontal part and the vertical part. Used to form a hinged bend.

Advantageously, the horizontal part of the arm comprises first drive means and a first pivot joint allowing a pivoting movement about the vertical axis relative to the movable unit, the horizontal part of the arm further comprising The second drive means is nested with each other, and the horizontal translation of the horizontal portion of the arm is performed by moving in a nested manner between the beams under the drive of the second drive means. And a plurality of beams suitable for the above.
For example, the second drive means comprises a hydraulic actuator placed at the center position in the telescopic beam set.

In a preferred deployment, the vertical part of the horizontal arm further comprises a top module which is connected to the horizontal part and provides a third drive means suitable for vertical translation of the bottom module.
These third drive means may comprise, for example, an electric winch that can stretch the cable and disengage the clutch to allow manual control.
Another embodiment for use with the third drive means may be presented using a control actuator.

Under such circumstances, the vertical part of the arm advantageously further comprises a second pivot joint having a ring and a fourth drive means for pivoting the bottom module about the vertical axis. .
As an example, these fourth drive means consist of a motor that controls the second pivot joint so that the vertical arm can rotate, and the ring includes various forms including rings with rolling bearings, segments, etc. May be taken.

  Furthermore, under such circumstances, an intermediate module placed between the bottom module and the top module and connected to the ring of the second swivel joint, nested inside each other, the upper part above A telescopic movement between the beams driven by the third drive means provides a vertical part of the arm further comprising an intermediate module with a plurality of beams suitable for performing said vertical translation of the vertical part of the arm. Preferably, this causes the bottom module to be driven with the same vertical translational motion and one of the beams of the intermediate module is secured to the ring of the second pivot joint.

In another preferred deployment, a suction hose is removably connected to the vertical portion of the arm.
For example, the free end of the suction hose can be telescoped in a sheath connected to the vertical portion of the arm.

  Accordingly, the bottom module is preferably provided with a ring capable of holding the suction hose so that the suction hose follows the movement of the bottom module.

Usually, a bottom module capable of shifting the suction hose by radial indexing around the cleaner hose is provided.
Such an arrangement makes it possible, for example, to clean areas such as sidewalks adjacent to inverts and facing manholes.

  In one embodiment, the suction hose can be rotated and repositioned by indexing with the ring relative to the beam extension of the intermediate module.

  According to another preferred form, the horizontal and vertical parts of the arm are provided with a system for guiding suction hoses, cleaner hoses via roller elements.

The bottom module further includes a camera module capable of observing the channel area adjacent to the interior of the manhole from the bottom module.
Such arrangement facilitates whether diagnosis is performed before the treatment with the jet water or whether the state of the equipment is checked after the treatment with the jet water.
Under such circumstances, the camera module is connected to a data collection system and a display system using cables extending along the support and guide arms.
Therefore, the information captured by the camera can be transmitted to the data collection system and display system, allowing inspection and verification to be performed remotely or later, and in particular, enabling different workers to perform inspection and verification. .

As an alternative, in addition to the camera module remaining connected to the bottom module, the bottom module further comprises a support suitable for accommodating an autonomous carrier attached to the movable camera.
Under such circumstances, the movable camera can move in the sewer network and capture visual information regarding an area that is different from an area that is positioned in a straight line with the manhole or that is close to the manhole.

The bottom module preferably further comprises a deployable pressing member suitable for contacting the manhole structure.
Such members work more accurately to position suction and cleaner hoses and more easily avoid timely movements caused by water pressure when water is injected under high pressure for cleaning purposes. .
As an example, this member is constituted by a deployable sleeve into which the working end of a cleaner hose carrying a cleaner head is guided.

  The movable unit is further movable with a vertical translation relative to the vertical part of the arm and further comprises a protective bell suitable for surrounding the arm on the manhole.

In this way, the bell closes the manhole against the worker, thereby protecting the worker from splashes generated by the cleaning operation using jetted water and suction, and in addition to possible bad odors, Allows the arm to move (especially the vertical part of the arm with a vertical translation).
The bell, which preferably forms part of the intermediate module, protects workers from both hygiene and health crisis reduction, and more generally in terms of safety.
Further, the bell up / down movement can be advantageously servo-controlled in accordance with the movement of the cleaner hose.

As another preferred feasible example, the protective bell further comprises a camera module that can be moved at least vertically relative to the support and guide arms and that can observe the interior of the manhole and the adjacent waterway area.
Under such circumstances, the Bell camera module acts as an optional camera module for the bottom module.
In this way, it becomes possible to use means for exploring and observing the manhole and its surroundings using the camera module housed in the bell.
The camera module is preferably independent of the support and guide arms in terms of control and movement, for example using a system in which the camera module can be moved in both vertical telescopic movements.

  Moreover, this invention provides a vehicle provided with the above movable cleaner units.

  In the examples, other advantages and features of the invention will become apparent from the description with reference to the accompanying drawings.

  In FIG. 1, a vehicle 100 carries a cleaning device including one (or a plurality of) tanks 110 together with a movable unit 200 in a rear chassis 102.

  The movable unit 200 is configured by a horizontal portion 210 that extends in the horizontal direction on the upper portion of the rear portion of the vehicle 100 and a vertical portion 220 that extends in the vertical direction and forms the rear end portion of the vehicle 100. A support guide arm 202 is provided.

  In FIG. 1, the movable unit 200 is shown in a rest position that allows the vehicle 100 to move because all movable parts are stored, as will be described below.

  The movable unit 200 is shown more clearly in FIG. 2, in which all components of the horizontal portion 210 and the vertical portion 220 of the support guide arm 202 are more clearly shown.

  In order to perform jet water cleaning, the movable unit 200 is firstly equipped with a cleaner hose 230 having a cleaner head 234 at the working end 232 at the end thereof, and secondly, an operating end at the end thereof. A suction hose 240 formed of a cylindrical body 242 (see FIG. 2 and FIG. 6) is attached.

The cleaner hose 230 and the suction hose 240 are supported by the arm 202 along the horizontal portion 210 and the vertical portion 220 through a guide system 204 having a roller element 206, preferably composed of a grooved wheel (FIG. 4). And see FIG.
Some of the roller elements 206 are suitable drive elements for driving the hoses 230, 240 in both directions.
In particular, in order to ensure that the driven hose 230 and hose 240 are properly held, a drive element that is a wheel that applies various amounts of pressure may be provided.

  The horizontal portion 210 has a base portion 211 that is usually fixed to the vehicle 100, in particular to the chassis 102 of the vehicle 100, or the base portion 211 is a shell of the tank 110, as in the embodiment shown in FIG. Fixed to.

  The base portion 211 is coupled to a first swivel joint 213 (see FIGS. 2 to 4) that allows the arm 202 to rotate about a vertical axis Z1-Z1 ′ relative to the base portion 211 and the vehicle 100. The motor 212 shown in the position of FIG. 2, which constitutes one driving means, in particular, a hydraulic motor is included.

The horizontal portion 210 is also mounted on a swivel joint 213 (see FIGS. 2-4) and includes a turret 214 that includes a roller 206 (see FIG. 4) of the guide system 204 through which the cleaner hose 230 and suction hose 240 pass. Have.
Thus, the turret 214 can rotate about the vertical axis Z1-Z1 ′.

Mounted on the turret 214 is a series of beams 215, 216, 217, 218 having rectangular cross-sections of different dimensions, forming a nested assembly that can be nested within each other and moved in translation in the horizontal direction. (See FIGS. 1 to 4).
This movement is placed inside a housing 219 defined between the four beams 215, 216, 217, 218 and is a hydraulic actuator (not shown) that forms second drive means that serve to propel it in horizontal translation. ) (See FIG. 4).

  Beams 216, 217, 218 are placed underneath them and connected to components that support roller element 206 for use with each of cleaner hose 230 and suction hose 240, with the suction hose being placed under the cleaner hose.

As shown in FIG. 4, the connection between the horizontal portion 210 and the vertical portion 220 is implemented in the form of a hinged bend 250 with a ball joint.
Specifically, this connection 250 is less than 15 °, preferably 3 °, between these two portions 210, 220 with respect to the two axes of the horizontal portion 210 and the vertical portion 220, while receiving a large radial load. Or an elastic hinge suitable for adjusting a limited amount of angular movement of 5 ° (for example, a SPHERIFLEX type).

The connecting portion 250 is attached to the beam 218 of the horizontal portion 210 and the upper module 221 of the vertical portion 220.
The linkage serves to allow proper positioning of the vertical portion 220 in certain circumstances, particularly manual re-establishment.
Therefore, when the road on which the vehicle 100 is placed is a slope, the vertical portion 220 can be accurately arranged in the vertical direction by the angular movement made possible by the connecting body 250.
Further, after the vehicle 100 is stopped and the support guide arm is deployed, the angular movement allowed by the connecting body 250 slightly tilts the vertical portion 220 when the manhole entrance is blocked directly under the bottom module 226. Working in this manner, the bottom module 226 is allowed to enter the sewage manhole 300.

The vertical part 220 is primarily driven by a vertical translation, with the upper module essentially formed by a mechanically welded part receiving the corresponding part of the connecting part 250 at its upper end. And a third driving means 222 that makes it possible to do this.
For this purpose, as shown in FIG. 4, the third driving means 222 includes an electric winch 222 a on which a cable 222 b is stretched, and a motor and a reduction gear type motor 222 c.
The clutch can be disengaged so that the cable 222b attached to the bottom portion of the vertical portion 220 placed under the top module 221 can be manually rewound, and in the event of an electrical problem, the bottom of the vertical portion 220 It is preferable to provide an electric winch 222a that can lift the portion.

  As shown in FIG. 4, the upper module 221 provides an opening into which the cleaner hose 230 is inserted. On the other hand, the suction hose 240 is located below the cleaner hose 230 along the upper module 221 but remains on the outside thereof, and these two hoses 230, 240 are used to orient them vertically. Another roller element 206 is guided in this area.

The bottom portion of the upper module 221 of the vertical portion 220 is provided with fourth driving means 223 so that the bottom end of the vertical portion 220 can rotate around a vertical axis parallel to the vertical portion 220. Yes.
FIG. 5 shows a motor 223a associated with a ring 223b (eg, of the ROLLIX type), which rotates and is movable relative to the rest of the upper module 221. From this point, it is regarded as the second swing hinge 223c.

The vertical portion 220 has an intermediate module 224 composed of four beams 224a, 224b, 224c, 224d of different dimensions in a square cross section under the upper module 221, which are nested within each other, A telescoping assembly is formed that can be moved in parallel in the vertical direction (see FIGS. 5 and 6).
This movement is driven by the third driving means 222 described above, and the cable 222b is connected to one or more of the four beams 224a to 224d (connection is not shown).

  Thus, when the motor 222c of the third drive means 222 is actuated to move up or down, the four cables 222b drive a set of beams 224a, 224b, 224c, 224d vertically. The beam expands or contracts depending on the driving direction.

  As can also be seen in FIGS. 5 and 6, in the region of the intermediate module 224, the cleaner hose 230 enters the inner housing defined by the four beams 224a, 224b, 224c, 224d. On the other hand, the suction hose 240 runs along the intermediate module 224 but remains outside it, in particular outside the beams 224a to 224d, and in the region of the intermediate module 224, these two hoses 230, 240 are used. There is no specific guidance.

  The vertical section 220 is designed to be well placed in the area of the invert 304 (flow channel) at the bottom of the sewage manhole 300 and thus includes a bottom module that includes the equipment necessary for the work that the mobile unit 200 of the present invention can perform. 226 under the intermediate module 224.

First, the bottom module 226 has a flexible sleeve 226a that is smaller in cross section than the inner beam 224d of the intermediate module 224 and is housed within the extension 225 of the inner beam 224d.
More specifically, the sleeves 226a extend inside and below the set of beams 224a, 224b, 224c, 224d in four of the intermediate modules 224 and serve as guides for the end portion of the cleaner hose 230.

  Four sleeves 226a are securely connected to a set of beams 224a-224d and move with them. Further, the sleeve 226a holds the end portion of the cleaner hose 230 so that the vertical position of the cleaner hose 230 directly corresponds to the position of the sleeve 226a. The sleeve 226a has an opening 226b (see FIGS. 6-10) in which the cleaner head 234 at the working end 232 of the cleaner hose 230 opens.

Similarly, sleeve 226a is hinged to pivot about a horizontal axis using legs 228, and as shown in FIGS. 6 and 7, the sleeve extends vertically into beams 224a-224d. , Move between the deployed positions as shown in FIGS.
The leg 228 is pivotally connected to the arm 202 via an extension of the outer beam 224d (FIG. 8) and a second pivotally connected to the free end of the sleeve 226a. The first and second portions of the leg 228 are connected to each other so as to be pivotable about an axis that is also horizontal.

Therefore, in the deployed position shown in FIG. 8, the sleeve 226a functions not only as a guide for arranging the cleaner head 234 in a substantially horizontal state but also as a pressing member.
As shown in FIGS. 9 and 10, the sleeve 226 a can push the sidewalk in the sewage manhole 300 (see FIG. 9) or push the channel portion adjacent to the sewage manhole 300 or the wall of the invert 304. (See FIG. 10).

  Thus, the sleeve 226a may be easier to clean with water jets by increasing the stability of the devices in the bottom module 226, particularly the cleaner head 234.

  Alternatively, in a variation not shown, the pressing member can be made in the form of an inclined bracket that uses a sliding surface connecting portion made in the extension of the beam 224d with a holding rod attached to the front portion of the bracket. For example, the front part of the squeezes the edge of the invert 304.

The cylindrical body 242 forming the working end of the suction hose 240 is connected to the remaining (more flexible) portion of the suction hose 240 by a fast connection type fastener 241. .
The cylindrical body 242 is held by a ring 227 attached to the extension 225 of the inner beam 224d of the bottom module 226 and is disposed along the bottom module 226.

  In order to make the suction hose 240 removable, the cylinder 242 is suitable for withdrawal from the sheath 243, and in this extended state, the cylinder 242, and more generally the suction hose 240, is connected to the roller element 206. , Alone and along the upper module 221 of the vertical section 220 and the horizontal section 210 of the intermediate module 224, by the support bell 260 through which the suction hose 240 outside the beams 224a-224d passes. (See FIG. 5).

Further, the operation of raising (lowering) the suction hose 240 by the third driving device 222 works to pull out the cylindrical body 242 of the suction hose 240 from the sheath 243 (insert it into the sheath 243), and the sheath has a hem-wide upper portion. There may be segments (not shown).
The sheath 243 is a cylindrical body whose diameter changes between a maximum diameter that allows the cylindrical body 242 to be removed (inserted) and a minimum diameter that fixes the cylindrical body 242 to the sheath 243 by tightening.

  The relative vertical position between the cylindrical body 242 and the sheath 243 is determined by the sliding surface index between one (or more) pegs 246 and one (or more) vertical grooves 227a across the wall of the ring. As shown (see FIGS. 7-10).

Similarly, the suction hose 240 can be aligned on a radius about the vertical portion 220 of the arm, more specifically the vertical portion of the flexible sleeve 226a and the vertical portion of the cleaner hose 230.
To this end, and as shown in FIGS. 7-10, the extension 225 allows its wall to be traversed over a central angle of approximately 180 ° (adjustable between + 90 ° and −90 °). ), Two horizontal grooves 225a are provided which cooperate with other projecting elements (not shown) of the ring 227.

  The end piece 244 is fixed to the free end of the sheath 243 and serves as a filter for the material sucked by the cylindrical body 242.

  Similarly, since there is a second pivot hinge 223c between the top module 221 and the middle module 224, it is possible to align the middle module 224 and thus the bottom module 226 on a radius about the vertical axis. It is. Therefore, very high accuracy can be obtained in positioning all the equipment of the bottom module 226, especially in positioning the end piece 244 of the suction hose 240 and further the cleaner head 234 of the cleaner hose 230.

  Since the cleaner hose 230 is associated with a motor driven reel (not shown) placed on the vehicle 100, the cleaner head 234 can be deployed beyond the bottom module 226, particularly beyond the sleeve 226a. .

Finally, the movable unit 200 has a movable protection bell 260 that surrounds the intermediate module 224 and lowers to the manhole when the bottom module 226 is disposed in the sewage manhole 300, and serves to protect the operator. .
Advantageously, the bell 260 has a transparent upper wall portion that allows the work being performed in the manhole 300 to be viewed.

Further, the vertical portion 220 is cleaned in a housing (not shown) attached to the inside of the protective bell 260 under the high-pressure jet water delivered from the cleaner head 234, and further, the suction hose 240. Before and after cleaning including suction through the end piece 244, a camera module (not shown) suitable for observing the state of the manhole 300 out of the housing described above is provided.
For this reason, such a camera module is independent of the movement of the vertical portion 220 of the arm 202 and its control system that allows the camera module to go from the bell 260 towards the manhole 300 and into it. Drive system.

  Moreover, in addition to the first observation means, the movable unit 200 can place a moving camera, and can go over the area of the sewage manhole 300 to investigate and check the state of the sewer network. The bottom module 226 has a retractable support (not shown) that forms a vehicle that can be removed from the vehicle.

  The movable unit 200 includes all movable equipment, in particular, first, second, third and fourth driving means used for the support guide arm 202, and further includes a suction hose 240, a cleaner hose 230, a camera module, and an optional mobile camera. A control system for controlling movable equipment used for the support;

Thus, in the support guide arm 202, the elements that allow the middle module 224 and the bottom module 226 to rotate are arranged in the upper part of a set of modules 221, 224, 226 with three of the support guide arms 202. I understand that
This avoids placing difficult-to-handle machine elements, particularly movable machine elements, in the portion of the support guide arm 202 that is placed inside the manhole 300.

  In addition, the bottom module 226 of the support guide arm 202 contains only those technical elements (especially mechanical elements) that are essential for this area, and may generate dust when working inside the manhole. Avoiding the elements from stresses related to moisture and impact.

  First, a tank (water tank) for storing clean water for high-pressure jet water, and second, a tank (collection tank) for storing sludge sucked by a suction hose and dirty water (collection tank) are optionally moved. It can consist of a single container 110 with possible dividing plates.

  Alternatively, the water tank can be separated from the collection tank, and the collection tank can be fitted with a discharge piston that can be easily emptied.

1 is a schematic perspective view of a vehicle carrying a movable unit according to the present invention. FIG. 2 is an enlarged perspective view of a rear portion of the vehicle shown in FIG. 1. It is the figure which shows the rear part of a vehicle and a movable unit, and the expanded view which shows the horizontal part of a telescoping arm. FIG. 4 is a cross-sectional perspective view of the area connecting the horizontal portion to the vertical portion of the support and guide arms. It is sectional drawing which shows the upper end part of the vertical part of a support and a guide arm. FIG. 6 is a cross-sectional view showing the bottom end of the vertical portion of the support and guide arm. FIG. 5 shows the bottom module of the vertical part of the support and guide arm. FIG. 5 shows the bottom module of the vertical part of the support and guide arm. FIG. 9 shows the bottom module of the vertical portion of the support and guide arm in a position in a manner similar to FIG. 8, showing that the bottom module is placed at the bottom of the manhole in that position. FIG. 9 shows the bottom module of the vertical portion of the support and guide arm in a position in a manner similar to FIG. 8, where the bottom module is located at the bottom of the manhole and is different from FIG. It is.

Claims (19)

A movable unit (200) for cleaning a sewer network from a manhole,
A suction hose (240) attached to the reel and connected to a collection tank and a suction pump;
A high pressure cleaner hose (230) attached to the reel and connected to a water tank, a high pressure pump and a cleaner head;
A support guide arm (202) for supporting and guiding the suction hose (240) and the cleaner hose (230);
The support guide arm (202) is connected to the horizontal part (210) connected to the movable unit (200) and the movable unit (200), and the working ends of the suction hose and the cleaner hose are disposed on the sewage manhole. Having a horizontal portion that can be swiveled around a vertical axis and horizontally translated to move relative to the movable unit (200) as possible,
The support guide arm (202) further includes a vertical portion (220) connected to the horizontal portion (210),
The connection forms a hinged bend (250) with a ball joint between the horizontal portion (210) and the vertical portion (220) of the support guide arm;
The vertical portion (220) swivels relative to the horizontal portion (210) to provide a bottom module (226) that is movable in vertical translation;
By positioning the suction hose and cleaner hose to the bottom module (226), positioning the bottom module (226) will almost position the working end of the suction hose and cleaner hose. A movable unit characterized by   The unit according to claim 1, characterized in that the ball joint is such that the horizontal part (210) and the vertical part (220) can move relative to each other at a maximum angle of 5 °.   The unit according to claim 1, characterized in that the ball joint is capable of angular movement of the horizontal part (210) relative to the vertical part (220) with a maximum angle of 15 °. The horizontal portion (210) of the support guide arm (202) includes first drive means (212),
A first swivel joint (213) that allows swivel movement about a vertical axis relative to the movable unit (200);
The horizontal portion (210) of the support guide arm includes second drive means (219);
Nesting each other and moving in a nested manner between the beams (215-218) under the driving of the second driving means (219), the horizontal part (210) of the support guide arm (202) 4) a plurality of beams (215-218) suitable for performing said horizontal translation.   The vertical part (220) of the horizontal arm (202) is connected to the horizontal part (210) and provides an upper part that provides third drive means (222) suitable for vertical translation of the bottom module (226). The unit according to any one of claims 1 to 4, further comprising a module.   The vertical portion (220) of the support guide arm (202) has a second pivot joint (223c) with a ring (223d) and a fourth drive that pivots the bottom module (226) about a vertical axis. 6. The unit according to claim 5, further comprising means (223). The vertical portion (220) of the support guide arm (202) is placed between the bottom module (226) and the top module (221) and connected to the ring (223b) of the second pivot joint (223c), The vertical parallelism of the vertical part (220) of the supporting guide arm by a nested movement between beams (224a-224d) nested in each other and driven by the third drive means (222) in the upper part. An intermediate module (224) having a plurality of beams (224a-224d) suitable for performing the movement;
The bottom module (226) is driven with the same vertical translation movement;
The unit according to claim 6, characterized in that one of the beams of the intermediate module is fixed to the ring of the second pivot joint (223c).   A unit according to any one of the preceding claims, wherein the suction hose (240) is detachably connected to the vertical part (220) of the support guide arm (202).   The said bottom module (226) is provided with a ring (227) capable of holding a suction hose (240) so as to follow the movement of the bottom module (226). The unit according to one.   10. A unit according to any one of the preceding claims, characterized in that it comprises a bottom module (226) capable of shifting the suction hose (240) by radial indexing about the cleaner hose (230). .   A system for guiding the suction hose (240) and the cleaner hose (230) through a roller element (206) is provided in the horizontal part and the vertical part (210, 220) of the support guide arm (202). 11. A unit according to any one of the preceding claims.   A protective bell (260) that is movable in a vertical translation relative to the vertical portion (220) of the support guide arm (202) and is suitable for surrounding the support guide arm (202) on the manhole (300). The unit according to claim 1, further comprising a unit.   The protective bell (260) further includes a camera module that can move at least in a vertical direction with respect to the support guide arm (202) and can observe a water channel area adjacent to the inside of the manhole (300). The unit according to claim 12.   14. Unit according to claim 13, characterized in that the camera module is connected to a data collection system, a display system, using a cable extending along the support guide arm (202).   15. A unit according to any one of the preceding claims, wherein the bottom module (226) further comprises a support suitable for accommodating an autonomous carrier attached to a movable camera.   16. The bottom module (226) according to any one of the preceding claims, further comprising a deployable pressing member suitable for contacting the manhole (300) structure. unit.   13. Unit according to claim 12, characterized in that the protective bell (260) forms part of an intermediate module (224).   18. A unit according to claim 12 or claim 17, wherein the protective bell (260) servo controls the movement of the cleaner hose (230).   A vehicle (100) comprising the movable cleaner unit (200) according to any one of the preceding claims.

Images